CN112731204A - Permanent magnet synchronous motor turn-to-turn short circuit fault positioning detection control method - Google Patents

Permanent magnet synchronous motor turn-to-turn short circuit fault positioning detection control method Download PDF

Info

Publication number
CN112731204A
CN112731204A CN202011608426.7A CN202011608426A CN112731204A CN 112731204 A CN112731204 A CN 112731204A CN 202011608426 A CN202011608426 A CN 202011608426A CN 112731204 A CN112731204 A CN 112731204A
Authority
CN
China
Prior art keywords
turn
short circuit
motor
gamma
fault
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202011608426.7A
Other languages
Chinese (zh)
Other versions
CN112731204B (en
Inventor
赵金晓
潘峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Yulong Automation Co ltd
Original Assignee
Harbin Yulong Automation Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Yulong Automation Co ltd filed Critical Harbin Yulong Automation Co ltd
Priority to CN202011608426.7A priority Critical patent/CN112731204B/en
Publication of CN112731204A publication Critical patent/CN112731204A/en
Application granted granted Critical
Publication of CN112731204B publication Critical patent/CN112731204B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
    • G01R31/52—Testing for short-circuits, leakage current or ground faults
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
    • G01R31/56—Testing of electric apparatus

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a method for positioning, detecting and controlling turn-to-turn short circuit faults of a permanent magnet synchronous motor. Step 1: closing all the switching short-circuit switches at the stator side, and injecting a rotating voltage signal into the static motor; step 2: detecting three-phase stator current i when closing the stator sidea，ib，icThen extracting a characteristic value gamma of the motor when the stator side is closed; and step 3: based on the characteristic value gamma of the motor when the stator side is closed and the characteristic value gamma when the stator side is closed and the motor has no fault in the step 20Difference | γ - γ of0If | is greater than threshold, if | γ - γ0If yes, go to step 4; and 4, step 4: and diagnosing the turn-to-turn short circuit fault of the motor when the stator side is closed, and completing fault diagnosis. The invention aims to solve the problem that the existing motor turn-to-turn short circuit fault diagnosis strategy cannot be accurateAnd locating the fault phase where the short-circuit point is located and the position of a specific winding.

Description

Permanent magnet synchronous motor turn-to-turn short circuit fault positioning detection control method
Technical Field
The invention belongs to the field of motors; in particular to a method for positioning, detecting and controlling turn-to-turn short circuit faults of a permanent magnet synchronous motor.
Background
Compared with the traditional internal combustion engine automobile, the electric automobile can solve the increasingly severe problems of energy crisis and environmental pollution. By virtue of the characteristics of zero emission, high efficiency and low operation noise, the method has gradually attracted attention of automobile manufacturers and research institutions at home and abroad. As a core component of an electric vehicle, the performance of the motor largely determines the dynamic performance, economical efficiency, braking performance, and efficiency of the electric vehicle. Compared with an asynchronous motor and an electrically excited synchronous motor, a Permanent Magnet Synchronous Motor (PMSM) is widely applied to the field of electric automobiles by virtue of the advantages of high power density, high efficiency, simple structure, flexible shape and size and the like.
In the operation process of the electric automobile, safety is the most important prerequisite, and as a core component of the electric automobile, stability and reliability of a motor are very important. In the manufacturing process of the motor, the winding of the end part of the stator winding is not firm, the insulating cushion block is loosened, the insulating material is degraded by heating, the processing damage of a welding head of a winding wire and a welding wire, the processing residues remained in a stator slot and other process problems can cause the problem of turn-to-turn short circuit of the winding in the operation process of the motor. This makes the turn-to-turn short circuit fault of the stator winding one of the most common faults in the operation process of the permanent magnet synchronous motor, which not only affects the normal performance of the motor and increases the harmonic magnetic field to cause motor vibration, but also generates short circuit current in the failed winding loop to overheat the short circuit point, increase the winding stability, destroy the winding insulation, and endanger the safety of the motor and the vehicle control system. Therefore, the turn-to-turn short circuit fault diagnosis technology of the permanent magnet synchronous motor has important significance for completely or effectively reducing the occurrence of harmful faults in the running process of the electric automobile.
Scholars at home and abroad make intensive research on turn-to-turn short circuit fault diagnosis in the permanent magnet synchronous motor. In the prior art, the fault characteristics of signals are extracted by detecting the current and vibration signals of a motor stator and adopting an improved wavelet packet transform and fast Fourier transform pair, so that the turn-to-turn short circuit fault of a stator winding is diagnosed. However, since the vibration signal is susceptible to the vehicle operating state, fault misdiagnosis is often caused, so that the accuracy of the method is low. In the prior art, a detection coil is wound on each stator tooth of the motor, and the specific position of turn-to-turn short circuit and a fault phase are determined by detecting magnetic field information in each coil. However, this method requires a large number of detection coils, which increases the system cost, increases the motor volume, and reduces the power density. In the prior art, whether the motor fails or not is judged by comparing changes of zero-sequence voltage before and after turn-to-turn short circuit fault of the motor. However, the method can only determine the fault phase of the winding, and cannot determine the specific position of the turn-to-turn short circuit, thereby bringing inconvenience to subsequent motor maintenance. In the prior art, turn-to-turn short circuit faults are judged by monitoring the variable quantity of three-phase voltage. The method also fails to accurately diagnose the specific location of the turn-to-turn short circuit.
Disclosure of Invention
The invention provides a method for positioning, detecting and controlling turn-to-turn short circuit faults of a permanent magnet synchronous motor, and aims to solve the problem that fault phases and specific winding positions of short circuit points cannot be accurately positioned in the existing motor turn-to-turn short circuit fault diagnosis strategy.
The invention is realized by the following technical scheme:
a permanent magnet synchronous motor turn-to-turn short circuit fault location detection control method comprises the following steps:
step 1: closing all the switching short-circuit switches at the stator side, and injecting a rotating voltage signal into the static motor;
step 2: detecting a three-phase stator current i when the stator side is closed based on the rotation voltage signal of the step 1a，ib，icCalculating the positive sequence component amplitude I' through Clark transformation, and extracting a characteristic value gamma of the motor when the stator side is closed;
and step 3: based on the characteristic value gamma of the motor when the stator side is closed and the characteristic value gamma when the stator side is closed and the motor has no fault in the step 20Difference | γ - γ of0If | is greater than threshold, if | γ - γ0| is less than the threshold value, go to step 4, if | γ - γ0If yes, repeating the step 5-11;
and 4, step 4: diagnosing no turn-to-turn short circuit fault of the motor when the stator side is closed, and completing fault diagnosis;
and 5: initializing, i is equal to 1, k is equal to 1, wherein i is, and k is;
step 6: conducting stator side change-over switch Sai，Sbi，SciThen, injecting a rotation voltage signal into the static motor, extracting a characteristic value gamma' of the motor when the stator side is conducted,
and 7: based on the characteristic value gamma ' of the motor when the stator side is conducted and the characteristic value gamma ' of the permanent magnet synchronous motor without fault when a single coil in the stator winding is short-circuited in the step 6 '0Is gamma '-gamma'0If | is greater than threshold value, if | γ '- γ'0| is less than the threshold value, go to step 8, if | γ - γ0If the value is greater than the threshold value, making i equal to i +1, and simultaneously repeating the step until the winding position with turn-to-turn short circuit is determined;
and 8: indicating that the ith winding position on the stator side has turn-to-turn short circuit, and recording the winding position of the turn-to-turn short circuit;
and step 9: switching on the stator side change-over switch according to the value of k, and switching on S when k is 1ai，Sb(i+1)，Sc(i+2)(ii) a When k is 2, S is turned ona(i+2)，Sbi，Sc(i+1)(ii) a When k is 3, S is turned ona(i+1)，Sb(i+2)，SciWherein i is 1,2, … n, wherein n represents the number of coils in the stator side single-phase winding; when i satisfies i-n-1, switch Sa(i+2)，Sb(i+2)，Sc(i+2)Refers to switch Sa(i+2-n)，Sb(i+2-n)，Sc(i+2-n)I.e. switch Sa(1)，Sb(1)，Sc(1)(ii) a When i satisfies i ═ n, switch Sa(i+1)，Sb(i+1)，Sc(i+1)Refers to switch Sa(i+1-n)，Sb(i+1-n)，Sc(i+1-n)I.e. switch Sa(1)，Sb(1)，Sc(1)And S isa(i+2)，Sb(i+2)，Sc(i+2)Refers to switch Sa(i+2-n)，Sb(i+2-n)，Sc(i+2-n)I.e. switch Sa(2)，Sb(2)，Sc(2)；
Step 10: injecting a rotating voltage signal into a stationary electric machineAnd extracting a characteristic value gamma 'of the motor when the stator side is conducted, and comparing | -gamma'0| whether it is greater than a threshold value; if | - [ gamma ] -gamma'0If yes, making k equal to k +1, and repeating the step 9 and the step 10; if | - [ gamma ] -gamma'0If the value is less than the threshold value, recording the k value at the moment, and performing the step 11;
step 11: judging the fault phase where the turn-to-turn short circuit is located according to the k value: when k is 1, recording that the turn-to-turn short circuit occurs in the A phase; when k is 2, recording that the turn-to-turn short circuit occurs in the B phase; when k is 3, recording that the turn-to-turn short circuit occurs in the C phase; and finishing the position determination of the turn-to-turn short circuit fault and sending fault information.
Further, the step 2 obtains alpha and beta axis current i through Clark transformationα，iβPost-calculation current iαExtracting the characteristic value gamma of the motor;
the expression of the characteristic value γ satisfies:
γ＝I′/U0 (1)
in the formula of U0Representing the amplitude of the injected rotation voltage signal;
further, the rotation voltage signal is generated by an existing inverter of the motor, and an expression of the rotation voltage signal satisfies:
Figure BDA0002870897300000031
in the formula of U0Representing the amplitude of the injected rotation voltage signal; f represents the frequency of the rotating voltage signal, and the frequency range of the rotating voltage signal meets the condition that f is more than or equal to 100Hz and less than or equal to 500 Hz.
Further, when the turn-to-turn short circuit fault occurs, the characteristic value gamma of the motor at the time of closing the stator side is compared with the characteristic value gamma at the time of no fault0Percentage of increase
Figure BDA0002870897300000032
The more the number of short-circuited turns, the greater the percentage increase in the characteristic quantity, determined by the number of turns of the winding turn-to-turn short-circuit.
Further, in step 3, specifically, in a two-phase stationary coordinate system (α β coordinate system), a circuit equation of the system satisfies:
Figure BDA0002870897300000033
in the formula iα，iβRepresenting α β axis current, #α，ψβRepresents an α β axis flux linkage, rsRepresenting the resistance of the stator winding;
wherein psiα，ψβThe expression of (1) satisfies:
Figure BDA0002870897300000034
neglecting the resistance r of the stator windingsThe alpha and beta axis current i can be calculatedα，iβThe expression of (1) satisfies:
Figure BDA0002870897300000035
can calculate to obtain the current iαSatisfies the following conditions:
Figure BDA0002870897300000036
further, when the permanent magnet synchronous motor has a turn-to-turn short circuit fault in step 11, the fault characteristic quantity γ is I'/U0May be increased due to an increase in the magnitude of the positive sequence component, and therefore, by detecting the characteristic amount γ, compared with the characteristic amount γ in the absence of a failure0The turn-to-turn short circuit diagnosis can be completed.
The invention has the beneficial effects that:
the invention does not need to additionally use a monitoring coil and a voltage sensor, thereby greatly reducing the diagnosis cost.
Compared with the traditional detection method based on the signal processing method, the invention does not need to carry out complex signal processing and calculation, and improves the diagnosis speed.
The turn-to-turn short circuit fault positioning detection control strategy can accurately position the fault phase and the specific position of the turn-to-turn short circuit by switching the short circuit switch, thereby saving the subsequent motor repair time.
The invention adopts a signal injection method, and can quickly diagnose whether the motor has turn-to-turn short circuit fault by injecting a rotating voltage signal and detecting the stator current.
Drawings
Fig. 1 is a system block diagram of a permanent magnet synchronous motor turn-to-turn fault location detection control strategy according to the present invention.
Fig. 2 is a schematic structural diagram of a 4-pole 24-slot permanent magnet synchronous motor in turn-to-turn short circuit fault.
Fig. 3 is an equivalent circuit diagram of a permanent magnet synchronous motor a-phase stator winding with a turn-to-turn short circuit.
Fig. 4 is a flowchart of the method for positioning, detecting and controlling turn-to-turn faults of the permanent magnet synchronous motor according to the present invention.
Fig. 5 is an equivalent circuit diagram of the permanent magnet synchronous motor turn-to-turn fault location detection control system of the present invention.
Fig. 6 is a schematic diagram of the turn-on sequence of the diverter switch of the present invention when determining the winding location of the turn-to-turn short fault.
Fig. 7 is a schematic diagram of the turn-on sequence of the transfer switch of the present invention when determining the number of phases in which the turn-to-turn short circuit occurs.
Fig. 8 is a change curve of the characteristic quantity change percentage of the permanent magnet synchronous motor with the initial angle of the motor under the turn-to-turn short circuit fault.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
A permanent magnet synchronous motor turn-to-turn short circuit fault location detection control method comprises the following steps:
step 1: closing all the switching short-circuit switches at the stator side, and injecting a rotating voltage signal into the static motor;
step 2: detecting a three-phase stator current i when the stator side is closed based on the rotation voltage signal of the step 1a，ib，icCalculating the positive sequence component amplitude I' through Clark transformation, and extracting a characteristic value gamma of the motor when the stator side is closed;
and step 3: based on the characteristic value gamma of the motor when the stator side is closed and the characteristic value gamma when the stator side is closed and the motor has no fault in the step 20Difference | γ - γ of0If | is greater than threshold, if | γ - γ0| is less than the threshold value, go to step 4, if | γ - γ0If yes, repeating the step 5-11;
and 4, step 4: diagnosing no turn-to-turn short circuit fault of the motor when the stator side is closed, and completing fault diagnosis;
and 5: initializing, i is equal to 1, k is equal to 1, wherein i is, and k is;
step 6: conducting stator side change-over switch Sai，Sbi，SciThen, injecting a rotation voltage signal into the static motor, extracting a characteristic value gamma' of the motor when the stator side is conducted,
and 7: based on the characteristic value gamma ' of the motor when the stator side is conducted and the characteristic value gamma ' of the permanent magnet synchronous motor without fault when a single coil in the stator winding is short-circuited in the step 6 '0Is gamma '-gamma'0If | is greater than threshold value, if | γ '- γ'0| is less than the threshold value, go to step 8, if | γ - γ0If the value is greater than the threshold value, making i equal to i +1, and simultaneously repeating the step until the winding position with turn-to-turn short circuit is determined;
and 8: indicating that the ith winding position on the stator side has turn-to-turn short circuit, and recording the winding position of the turn-to-turn short circuit;
and step 9: switching on the stator side according to the value of kA switch for turning on S when k is equal to 1ai，Sb(i+1)，Sc(i+2)(ii) a When k is 2, S is turned ona(i+2)，Sbi，Sc(i+1)(ii) a When k is 3, S is turned ona(i+1)，Sb(i+2)，SciWherein i is 1,2, … n, wherein n represents the number of coils in the stator side single-phase winding; when i satisfies i-n-1, switch Sa(i+2)，Sb(i+2)，Sc(i+2)Refers to switch Sa(i+2-n)，Sb(i+2-n)，Sc(i+2-n)I.e. switch Sa(1)，Sb(1)，Sc(1)(ii) a When i satisfies i ═ n, switch Sa(i+1)，Sb(i+1)，Sc(i+1)Refers to switch Sa(i+1-n)，Sb(i+1-n)，Sc(i+1-n)I.e. switch Sa(1)，Sb(1)，Sc(1)And S isa(i+2)，Sb(i+2)，Sc(i+2)Refers to switch Sa(i+2-n)，Sb(i+2-n)，Sc(i+2-n)I.e. switch Sa(2)，Sb(2)，Sc(2)；
Step 10: injecting a rotation voltage signal into the static motor, extracting a characteristic value gamma ' of the motor when the stator side is conducted, and comparing | gamma ' -gamma '0| whether it is greater than a threshold value; if | - [ gamma ] -gamma'0If yes, making k equal to k +1, and repeating the step 9 and the step 10; if | - [ gamma ] -gamma'0If the value is less than the threshold value, recording the k value at the moment, and performing the step 11;
step 11: judging the fault phase where the turn-to-turn short circuit is located according to the k value: when k is 1, recording that the turn-to-turn short circuit occurs in the A phase; when k is 2, recording that the turn-to-turn short circuit occurs in the B phase; when k is 3, recording that the turn-to-turn short circuit occurs in the C phase; and finishing the position determination of the turn-to-turn short circuit fault and sending fault information.
Further, the step 2 obtains alpha and beta axis current i through Clark transformationα，iβPost-calculation current iαExtracting the characteristic value gamma of the motor;
the expression of the characteristic value γ satisfies:
γ＝I′/U0 (1)
in the formula of U0Representing the amplitude of the injected rotation voltage signal;
the characteristic quantity gamma is represented by alpha beta axis current iαThe positive sequence component amplitude I' and the amplitude U of the rotation voltage signal0Is determined only when the amplitude U of the rotation voltage signal0When changed, the characteristic amount γ remains unchanged; when turn-to-turn short circuit fault occurs, current iαCompared to the current i in the fault-free stateαThe positive sequence component of (1) is significantly increased in amplitude, so that the characteristic quantity gamma is increased; whereas only the current i is influenced by the initial angle theta of the rotorαThe characteristic quantity gamma is not related to the initial angle theta of the rotor, in other words, the initial position of the rotor of the motor does not influence the precision of the detection control strategy.
Further, the rotation voltage signal is generated by an existing inverter of the motor, and an expression of the rotation voltage signal satisfies:
Figure BDA0002870897300000061
in the formula of U0Representing the amplitude of the injected rotation voltage signal; f represents the frequency of the rotating voltage signal, and the frequency range of the rotating voltage signal meets the condition that f is more than or equal to 100Hz and less than or equal to 500 Hz.
Further, when the turn-to-turn short circuit fault occurs, the characteristic value gamma of the motor at the time of closing the stator side is compared with the characteristic value gamma at the time of no fault0Percentage of increase
Figure BDA0002870897300000062
The more the number of short-circuited turns, the greater the percentage increase in the characteristic quantity, determined by the number of turns of the winding turn-to-turn short-circuit.
Further, in step 3, specifically, for a fault-free permanent magnet synchronous motor, in the two-phase stationary coordinate system (α β coordinate system), the circuit equation of the system satisfies:
Figure BDA0002870897300000063
in the formula iα，iβRepresenting α β axis current, #α，ψβRepresents an α β axis flux linkage, rsRepresenting the resistance of the stator winding;
wherein psiα，ψβThe expression of (1) satisfies:
Figure BDA0002870897300000064
neglecting the resistance r of the stator windingsThe alpha and beta axis current i can be calculatedα，iβThe expression of (1) satisfies:
Figure BDA0002870897300000065
can calculate to obtain the current iαSatisfies the following conditions:
Figure BDA0002870897300000066
further, when the phase a stator winding has a turn-to-turn short circuit fault in step 7, an equivalent circuit diagram corresponding to the permanent magnet synchronous motor is shown in fig. 3; when the motor has turn-to-turn short circuit fault, compared with the fault-free winding, a part of the A-phase winding is connected by a resistor rshortAnd short circuit, wherein the voltage equation of the motor meets the following conditions:
uabcs＝rabcs·iabcs+d(Labcs·iabcs+ψabcs)/dt (7)
wherein:
uabcs＝[ua-un,ub-un,uc-un,0]T (8)
iabcs＝[ia,ib,ic,is]T (9)
ψabcs＝[ψa,ψb,ψc,Δψa]T (10)
Figure BDA0002870897300000071
Figure BDA0002870897300000072
wherein Δ represents the ratio of the number of short-circuited turns to the total number of turns of the coil; u. ofaFor terminal voltage of A-phase winding, ubFor terminal voltage of B-phase winding, ucTerminal voltage of the C-phase winding is unIs zero voltage, rsIs the internal resistance of the winding, LaaFor self-inductance of the A-phase winding, MabMutual inductance is formed between the A-phase winding and the B-phase winding;
when the above formula (2-12) is used to obtain the inter-turn short circuit fault, the current iα-failSatisfies the following conditions:
Figure BDA0002870897300000073
wherein:
Figure BDA0002870897300000074
thus, the motor current i in the no-fault stateαCompared with motor current i when turn-to-turn short circuit fault occursα-failThe amplitude I' of the positive sequence component of (a) is obviously increased and is independent of the initial angle theta of the rotor; the characteristic quantity γ defining the turn-to-turn short fault is:
γ＝I′/U0 (15)。
further, when the permanent magnet synchronous motor has a turn-to-turn short circuit fault in step 11, the fault characteristic quantity γ is I'/U0Will be due toThe positive sequence component increases in magnitude, and therefore, by detecting the feature amount γ, it is compared with the feature amount γ in the absence of a failure0The turn-to-turn short circuit diagnosis can be completed.
The permanent magnet synchronous motor turn-to-turn short circuit fault positioning detection control strategy can be simultaneously applied to motors with different rotor structures (surface-mounted magnetic poles, built-in magnetic poles and the like) and adopting different pole slot matching.
Example 2
This embodiment mode will be described below with reference to fig. 5, and the first embodiment mode will be further described.
The schematic diagram of the installation position of the switching short-circuit switch is shown in figure 5, the type of the switching switch is determined according to the frequency of a rotating voltage signal, and when the voltage frequency is lower, the switching short-circuit switch is a contactor switch; when the voltage frequency is higher, the short-circuit switch is switched to be an MOSFET switch;
the switching short-circuit switch is arranged at the end part of the stator winding, is connected in parallel with the two sides of the single winding coil and is controlled to be switched on and off by the DSP controller; the number of the switching short-circuit switches is equal to the number of coils in the stator winding; each of the switching short-circuit switches can be independently controlled, and when a single switching short-circuit switch is conducted, a single stator winding connected in parallel with the single switching short-circuit switch is short-circuited.
Example 3
The present embodiment will be described below with reference to fig. 6 and 7, and the first embodiment will be further described.
FIG. 6 is a schematic diagram of a turn-on sequence of a diverter switch according to the present invention for determining the winding location of a turn-to-turn short circuit fault; the switches are numbered according to the position of the winding in parallel with which the short-circuit switch is switched, and are marked as Sai，Sbi，SciWherein i is 1,2, … n, wherein n represents the number of coils in the stator side single-phase winding; as shown in fig. 6, first, i is set to 1, and the stator-side changeover switch S is turned ona(1)，Sb(1)，Sc(1)And injecting a rotation voltage signal into the static motor, extracting a characteristic value gamma ' of the motor, and comparing | gamma ' -gamma '0| whether it is greater than a threshold value(ii) a If | - [ gamma ] -gamma'0When the voltage is less than the threshold value, indicating that the 1 st winding position on the stator side has the turn-to-turn short circuit, and recording the winding position of the turn-to-turn short circuit; otherwise, let i equal to i +1, turn on the stator side switch Sa(2)，Sb(2)，Sc(3)Then, injecting a rotating voltage signal … … into the static motor to repeat the steps until the winding position with turn-to-turn short circuit is determined; wherein gamma'0Representing a characteristic value of the permanent magnet synchronous motor without faults when a single coil in the stator winding is short-circuited;
fig. 7 is a schematic diagram showing a turn-on sequence of the change-over switch according to the present invention when determining a fault phase in which a turn-to-turn short circuit fault is located; after the step 6, the winding position where the turn-to-turn short circuit fault is located can be determined, and the fault phase where the turn-to-turn short circuit is located needs to be determined next; firstly, k is equal to 1, and S is conductedai，Sb(i+1)，Sc(i+2)Injecting a rotation voltage signal into a static motor, extracting a motor characteristic value gamma ', and comparing | gamma ' -gamma '0| whether it is greater than a threshold value; if | - [ gamma ] -gamma'0If the | is less than the threshold value, recording the turn-to-turn short circuit in the phase A; otherwise, k is 2, turn on Sa(i+2)，Sbi，Sc(i+1)Repeatedly extracting motor characteristic value gamma ' and comparing gamma ' -gamma '0| whether it is greater than a threshold value; if | - [ gamma ] -gamma'0If the | is less than the threshold value, recording the turn-to-turn short circuit in the B phase; otherwise, k is 3, turning on Sa(i+1)，Sb(i+2)，SciRepeatedly extracting motor characteristic value gamma ' and comparing gamma ' -gamma '0| whether it is greater than a threshold value; if | - [ gamma ] -gamma'0If the | is less than the threshold value, recording the turn-to-turn short circuit in the C phase, otherwise, sending an error signal;
further, when i satisfies i ═ n-1, the switch Sa(i+2)，Sb(i+2)，Sc(i+2)Refers to switch Sa(i+2-n)，Sb(i+2-n)，Sc(i+2-n)I.e. switch Sa(1)，Sb(1)，Sc(1)(ii) a When i satisfies i ═ n, switch Sa(i+1)，Sb(i+1)，Sc(i+1)Refers to switch Sa(i+1-n)，Sb(i+1-n)，Sc(i+1-n)I.e. switch Sa(1)，Sb(1)，Sc(1)And S isa(i+2)，Sb(i+2)，Sc(i+2)Refers to switch Sa(i+2-n)，Sb(i+2-n)，Sc(i+2-n)I.e. switch Sa(2)，Sb(2)，Sc(2)。
Example 4
This embodiment mode will be described below with reference to fig. 8, and the first embodiment mode will be further described.
Since the initial angle theta of the rotor only affects the current iαSo that the characteristic quantity gamma is independent of the initial angle theta of the rotor; FIG. 8 shows a variation curve of the percentage of change of the characteristic quantity of the PMSM with the initial angle of the motor under the turn-to-turn short circuit fault, and it can be seen from the figure that the initial position of the rotor of the motor does not affect the accuracy of the detection control strategy of the present invention;
further, when the inter-turn short circuit fault occurs, the characteristic amount γ is compared with the characteristic amount γ in the case of no fault0Percentage of increase
Figure BDA0002870897300000091
The more the number of short-circuited turns, the greater the percentage increase in the characteristic quantity, determined by the number of turns of the winding turn-to-turn short-circuit.

Claims (6)

1. A method for positioning, detecting and controlling turn-to-turn short circuit fault of a permanent magnet synchronous motor is characterized by comprising the following steps:
step 1: closing all the switching short-circuit switches at the stator side, and injecting a rotating voltage signal into the static motor;
step 2: detecting a three-phase stator current i when the stator side is closed based on the rotation voltage signal of the step 1a，ib，icCalculating the positive sequence component amplitude I' through Clark transformation, and extracting a characteristic value gamma of the motor when the stator side is closed;
and step 3: closing the characteristic value gamma of the motor at the stator side based on the step 2Characteristic value gamma when closing stator side and motor is not fault0Difference | γ - γ of0If | is greater than threshold, if | γ - γ0| is less than the threshold value, go to step 4, if | γ - γ0If yes, repeating the step 5-11;
and 4, step 4: diagnosing no turn-to-turn short circuit fault of the motor when the stator side is closed, and completing fault diagnosis;
and 5: initializing, i is equal to 1, k is equal to 1, wherein i is, and k is;
step 6: conducting stator side change-over switch Sai，Sbi，SciThen, injecting a rotation voltage signal into the static motor, extracting a characteristic value gamma' of the motor when the stator side is conducted,
and 7: based on the characteristic value gamma ' of the motor when the stator side is conducted and the characteristic value gamma ' of the permanent magnet synchronous motor without fault when a single coil in the stator winding is short-circuited in the step 6 '0Is gamma '-gamma'0If | is greater than threshold value, if | γ '- γ'0| is less than the threshold value, go to step 8, if | γ - γ0If the value is greater than the threshold value, making i equal to i +1, and simultaneously repeating the step until the winding position with turn-to-turn short circuit is determined;
and 8: indicating that the ith winding position on the stator side has turn-to-turn short circuit, and recording the winding position of the turn-to-turn short circuit;
and step 9: switching on the stator side change-over switch according to the value of k, and switching on S when k is 1ai，Sb(i+1)，Sc(i+2)(ii) a When k is 2, S is turned ona(i+2)，Sbi，Sc(i+1)(ii) a When k is 3, S is turned ona(i+1)，Sb(i+2)，SciWherein i is 1,2, … n, wherein n represents the number of coils in the stator side single-phase winding; when i satisfies i-n-1, switch Sa(i+2)，Sb(i+2)，Sc(i+2)Refers to switch Sa(i+2-n)，Sb(i+2-n)，Sc(i+2-n)I.e. switch Sa(1)，Sb(1)，Sc(1)(ii) a When i satisfies i ═ n, switch Sa(i+1)，Sb(i+1)，Sc(i+1)Refers to switch Sa(i+1-n)，Sb(i+1-n)，Sc(i+1-n)I.e. switch Sa(1)，Sb(1)，Sc(1)And S isa(i+2)，Sb(i+2)，Sc(i+2)Refers to switch Sa(i+2-n)，Sb(i+2-n)，Sc(i+2-n)I.e. switch Sa(2)，Sb(2)，Sc(2)；
Step 10: injecting a rotation voltage signal into the static motor, extracting a characteristic value gamma ' of the motor when the stator side is conducted, and comparing | gamma ' -gamma '0| whether it is greater than a threshold value; if | - [ gamma ] -gamma'0If yes, making k equal to k +1, and repeating the step 9 and the step 10; if | - [ gamma ] -gamma'0If the value is less than the threshold value, recording the k value at the moment, and performing the step 11;
step 11: judging the fault phase where the turn-to-turn short circuit is located according to the k value: when k is 1, recording that the turn-to-turn short circuit occurs in the A phase; when k is 2, recording that the turn-to-turn short circuit occurs in the B phase; when k is 3, recording that the turn-to-turn short circuit occurs in the C phase; and finishing the position determination of the turn-to-turn short circuit fault and sending fault information.
2. The method for positioning, detecting and controlling turn-to-turn short circuit fault of permanent magnet synchronous motor according to claim 1, wherein alpha and beta axis currents i are obtained in step 2 through Clark transformationα，iβPost-calculation current iαExtracting the characteristic value gamma of the motor;
the expression of the characteristic value γ satisfies:
γ＝I′/U0 (1)
in the formula of U0Representing the amplitude of the injected rotation voltage signal.
3. The method for positioning, detecting and controlling the turn-to-turn short circuit fault of the permanent magnet synchronous motor according to claim 1, wherein the rotating voltage signal is generated by an existing inverter of the motor, and an expression of the rotating voltage signal satisfies:
Figure FDA0002870897290000021
in the formula of U0Representing the amplitude of the injected rotation voltage signal; f represents the frequency of the rotating voltage signal, and the frequency range of the rotating voltage signal meets the condition that f is more than or equal to 100Hz and less than or equal to 500 Hz.
4. The method for positioning, detecting and controlling turn-to-turn short circuit fault of permanent magnet synchronous motor according to claim 1, wherein when turn-to-turn short circuit fault occurs, the characteristic value γ of the motor at the time of closing the stator side is compared with the characteristic value γ at the time of no fault0Percentage of increase
Figure FDA0002870897290000022
The more the number of short-circuited turns, the greater the percentage increase in the characteristic quantity, determined by the number of turns of the winding turn-to-turn short-circuit.
5. The method for positioning, detecting and controlling the turn-to-turn short circuit fault of the permanent magnet synchronous motor according to claim 1, wherein the step 3 is specifically that a circuit equation of a system satisfies:
Figure FDA0002870897290000023
in the formula iα，iβRepresenting α β axis current, #α，ψβRepresents an α β axis flux linkage, rsRepresenting the resistance of the stator winding;
wherein psiα，ψβThe expression of (1) satisfies:
Figure FDA0002870897290000024
neglecting the resistance r of the stator windingsThe alpha and beta axis current i can be calculatedα，iβThe expression of (1) satisfies:
Figure FDA0002870897290000025
can calculate to obtain the current iαSatisfies the following conditions:
Figure FDA0002870897290000026
6. the method according to claim 1, wherein when the pm synchronous motor has an inter-turn short circuit fault in step 11, the fault characteristic γ ═ I'/U is detected0May be increased due to an increase in the magnitude of the positive sequence component, and therefore, by detecting the characteristic amount γ, compared with the characteristic amount γ in the absence of a failure0The turn-to-turn short circuit diagnosis can be completed.
CN202011608426.7A 2020-12-29 2020-12-29 Permanent magnet synchronous motor turn-to-turn short circuit fault positioning detection control method Active CN112731204B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011608426.7A CN112731204B (en) 2020-12-29 2020-12-29 Permanent magnet synchronous motor turn-to-turn short circuit fault positioning detection control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011608426.7A CN112731204B (en) 2020-12-29 2020-12-29 Permanent magnet synchronous motor turn-to-turn short circuit fault positioning detection control method

Publications (2)

Publication Number Publication Date
CN112731204A true CN112731204A (en) 2021-04-30
CN112731204B CN112731204B (en) 2022-12-06

Family

ID=75610944

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011608426.7A Active CN112731204B (en) 2020-12-29 2020-12-29 Permanent magnet synchronous motor turn-to-turn short circuit fault positioning detection control method

Country Status (1)

Country Link
CN (1) CN112731204B (en)

Citations (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008267929A (en) * 2007-04-19 2008-11-06 Toyota Motor Corp Motor short circuit inspection method
CN102081129A (en) * 2010-11-10 2011-06-01 中国矿业大学 Method for diagnosing short circuit fault of stator winding of switched reluctance motor
CN103487718A (en) * 2013-09-17 2014-01-01 东南大学 Method for diagnosing turn-to-turn short circuit fault of permanent magnet synchronous motor
KR101357828B1 (en) * 2012-12-07 2014-02-05 전자부품연구원 Fault detection method type of series permanent magnet motor and system using the same
DE102013227175A1 (en) * 2013-01-10 2014-07-10 Gm Global Technology Operations, Llc Stator winding diagnostic systems and procedures
CN104764974A (en) * 2015-04-14 2015-07-08 华北电力大学（保定） Turn-to-turn short circuit fault diagnosis method for rotor winding of brushless excitation generator
CN204928556U (en) * 2015-09-24 2015-12-30 哈尔滨宇龙自动化有限公司 Frequency changer
CN105277835A (en) * 2014-07-04 2016-01-27 国家电网公司 Positioning method and device of generator rotor inter turn short circuit failure
WO2016092871A1 (en) * 2014-12-10 2016-06-16 三菱電機株式会社 Electric motor diagnosis device
CN106019045A (en) * 2016-05-16 2016-10-12 安徽大学 PMSM (permanent magnet synchronous motor) turn-to-turn short circuit fault diagnosis method
CN106709128A (en) * 2016-10-25 2017-05-24 西安交通大学 Novel prediction system and method for asynchronous motor stator inter-turn short circuit fault
CN106841901A (en) * 2017-03-09 2017-06-13 浙江大学 A kind of transducer drive IPM synchronous motor interturn in stator windings short trouble diagnostic method
KR101818916B1 (en) * 2017-04-06 2018-03-02 전자부품연구원 Fault diagnosis apparatus, system and method of permanent magnet motor
CN108072812A (en) * 2017-04-20 2018-05-25 苏州仙崴机电有限公司 A kind of switched reluctance machines winding interturn short-circuit failure diagnosing method
WO2019202651A1 (en) * 2018-04-17 2019-10-24 三菱電機株式会社 Electric motor diagnosing device
CN111123105A (en) * 2020-02-14 2020-05-08 东南大学 Motor turn-to-turn short circuit fault diagnosis method based on high-frequency signal injection
CN111551849A (en) * 2020-04-09 2020-08-18 天津大学 double-Y phase shift 30-degree double-redundancy permanent magnet synchronous motor turn-to-turn short circuit fault online diagnosis method

Patent Citations (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008267929A (en) * 2007-04-19 2008-11-06 Toyota Motor Corp Motor short circuit inspection method
CN102081129A (en) * 2010-11-10 2011-06-01 中国矿业大学 Method for diagnosing short circuit fault of stator winding of switched reluctance motor
KR101357828B1 (en) * 2012-12-07 2014-02-05 전자부품연구원 Fault detection method type of series permanent magnet motor and system using the same
DE102013227175A1 (en) * 2013-01-10 2014-07-10 Gm Global Technology Operations, Llc Stator winding diagnostic systems and procedures
CN103487718A (en) * 2013-09-17 2014-01-01 东南大学 Method for diagnosing turn-to-turn short circuit fault of permanent magnet synchronous motor
CN105277835A (en) * 2014-07-04 2016-01-27 国家电网公司 Positioning method and device of generator rotor inter turn short circuit failure
WO2016092871A1 (en) * 2014-12-10 2016-06-16 三菱電機株式会社 Electric motor diagnosis device
CN104764974A (en) * 2015-04-14 2015-07-08 华北电力大学（保定） Turn-to-turn short circuit fault diagnosis method for rotor winding of brushless excitation generator
CN204928556U (en) * 2015-09-24 2015-12-30 哈尔滨宇龙自动化有限公司 Frequency changer
CN106019045A (en) * 2016-05-16 2016-10-12 安徽大学 PMSM (permanent magnet synchronous motor) turn-to-turn short circuit fault diagnosis method
CN106709128A (en) * 2016-10-25 2017-05-24 西安交通大学 Novel prediction system and method for asynchronous motor stator inter-turn short circuit fault
CN106841901A (en) * 2017-03-09 2017-06-13 浙江大学 A kind of transducer drive IPM synchronous motor interturn in stator windings short trouble diagnostic method
KR101818916B1 (en) * 2017-04-06 2018-03-02 전자부품연구원 Fault diagnosis apparatus, system and method of permanent magnet motor
CN108072812A (en) * 2017-04-20 2018-05-25 苏州仙崴机电有限公司 A kind of switched reluctance machines winding interturn short-circuit failure diagnosing method
WO2019202651A1 (en) * 2018-04-17 2019-10-24 三菱電機株式会社 Electric motor diagnosing device
CN111123105A (en) * 2020-02-14 2020-05-08 东南大学 Motor turn-to-turn short circuit fault diagnosis method based on high-frequency signal injection
CN111551849A (en) * 2020-04-09 2020-08-18 天津大学 double-Y phase shift 30-degree double-redundancy permanent magnet synchronous motor turn-to-turn short circuit fault online diagnosis method

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
候光杰: "双馈式感应发电机定子匝间短路故障诊断措施", 《中国水能及电气化》 *
王旭红: "采用RWNN 的电机定子绕组匝间故障诊断方法", 《高电压技术》 *

Also Published As

Publication number Publication date
CN112731204B (en) 2022-12-06

Similar Documents

Publication Publication Date Title
CN109490646B (en) Phase-loss detection method for driving motor of new energy automobile
CN106549618B (en) Electric automobile safety system based on magnetic field angle redundancy algorithm and control method thereof
CN108776306A (en) A kind of intelligent diagnostics device and method of magneto failure
CN109406997B (en) Method and device for testing active short-circuit relay of motor and storage medium
CN111619351B (en) Safety state control method and device and automobile
CN111123104B (en) Permanent magnet motor winding fault diagnosis method without prior knowledge
CN104242774A (en) Motor phase current prediction and diagnosis method
CN110632437B (en) Open-circuit fault diagnosis method for switching tube of common neutral line open-winding electric drive system
AU2014323977A1 (en) Method for diagnosing detail coefficient standard deviation of switch reluctance motor power converter failure
Im et al. Interturn fault tolerant drive method by limiting copper loss of interior permanent magnet synchronous motor
CN113872482A (en) Axial magnetic field flux switching permanent magnet motor single-phase fault-tolerant control method
CN104601079A (en) Fault-tolerant control system and method for single-phase winding disconnection of electric vehicle driving system
Lee et al. Diagnosis technique for stator winding inter-turn fault in BLDC motor using detection coil
CN111190066B (en) Fault diagnosis method for matrix converter motor driving system
Sun et al. Current fault tolerance control strategy for 3-phase switched reluctance motor combined with position signal reconstruction
CN108599660B (en) Vector control method for asymmetric faults of stator winding of permanent magnet synchronous motor
CN112505581B (en) Double-stator permanent magnet synchronous motor turn-to-turn short circuit fault diagnosis method
CN112731204B (en) Permanent magnet synchronous motor turn-to-turn short circuit fault positioning detection control method
JP5923955B2 (en) Control device for multi-phase rotating machine
CN111123102A (en) Fault diagnosis method for permanent magnet fault-tolerant motor driving system
CN113848477B (en) Multi-phase permanent magnet synchronous motor turn-to-turn short circuit fault diagnosis method
CN116736110A (en) Full-phase exciter rotor winding fault diagnosis method for multi-stage starting power generation system
CN113064074B (en) Permanent magnet synchronous motor stator winding fault diagnosis method based on negative sequence component
Chen et al. A fault diagnosis method based on optimized current sensor installation strategy of power converter for doubly salient electro-magnetic motor
Chen et al. An Open-circuit Fault Diagnosis Method based on Virtual Current Coefficients for Power Converter of Doubly Salient Electro-Magnetic Motor

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant